37results about How to "Improve movement flexibility" patented technology

The invention discloses a rehabilitation robot and a human-machine cooperative interaction force control method thereof. The rehabilitation robot comprises a robot arm with at least one joint. The method for controlling the human-machine interaction force of the rehabilitation robot comprises the following steps: detecting an action moment of a patient's affected side limb acting on the robot arm;Generating a target motion trajectory of the manipulator; Establishing a dynamic model of the manipulator; Calculating a joint moment required for generating the target motion trajectory by using aninverse dynamics principle; Calculating a friction compensation torque of the joint and a dynamic compensation torque of the affected side limb of the patient; The joint torque, the action torque, thedynamics compensation torque, and the friction compensation torque are used as control inputs to the manipulator. The robot can provide the compliant force interactive control between the patient andthe rehabilitation robot arm, provides complete dynamic compensation, improves the equipment motion starting ability and flexibility, and is favorable for improving the experience degree of the patient to the auxiliary rehabilitation training. The invention can provide the compliant force interactive control between the patient and the rehabilitation robot arm, provides complete dynamic compensation, and improves the equipment motion starting ability and flexibility.

The invention discloses a control method of a multi-section peristaltic snake-like robot running in a nuclear fusion cabin. The control method is characterized in that a front section side positioning module and a rear section side positioning module are symmetrically arranged at two ends of a middle section axial moving module to form a walking mechanism, the walking mechanism is used as at least two creeping units, the at least two creeping units are serially connected to form the multi-section peristaltic snake-like robot, and adjacent creeping units are connected by using two telescopic elastic universal joints. By using the control method disclosed by the invention, a locomotion gait similar to multi-section worm walking can be realized, the running stability is good, the control is simple; a movement locus can be across a large dual-ring groove at the bottom of the whole nuclear fusion cabin, and the all-dimensional vision information acquisition of a space inside the nuclear fusion cabin is realized by carrying a vision observing cloud deck.

The invention discloses a metal die-casting die capable of internally and automatically cutting off a sprue. The die is composed of a fixed clamping plate, a moving clamping plate, a stripper plate, a pull needle, pull rods, a guide column, a resin die opener, a sliding block and a pressing block. The first pull rod (7), the second pull rod (6), the resin die opener (18) and the pull needle (21) are communicated to form an automatic cut-off mechanism of a die gating system. The pull needle (21) and the stripper plate form a gating system freezing material disengagement device. A first ejector pin (15), a second ejector pin (33), a rack core (32), an ejector pin plate and an ejector pin fixing plate are communicated to form a die ejecting mechanism. An inclined guide column (26), an inclined pressing block (27), a sliding block (30) and a first spring (31) are communicated to form a die side face core-pulling mechanism. According to the metal die-casting die, the action is firm and reliable, pressure transfer is good, the automatic sprue shearing efficiency of the die is high, and by means of optimized module design, the structure is compact, and manufacturing, installation, debugging and maintenance are convenient.

An intelligentized nursing cup device for psychiatric nursing comprises a rotating cover, a sucker, a cup cover, a booster pump, a cup body, a liquid crystal displayer, a microphone, a cup handle, a sound control device, a radio transmitting and receiving device, a water inlet, a rubber wheel, a groove, a hydraulic telescopic rod, a suction cup, a water inlet pipe, a temperature sensor, a sleeve, a filter, a water outlet pipe, an electronic flow controller, a motion sensor, a rotating shaft, a silicon gel end socket, an electronic gate, a sliding block, a detecting instrument, a mechanical gyroscope, a fluorescence graduated disc and a single chip microcomputer. The cup body is a main component, the cup cover is arranged on the top of the cup body, the water inlet pipe is arranged inside the cup body, the other end of the water inlet pipe is connected with the filter, and the filter is provided with the water outlet pipe outwards. According to the intelligentized nursing cup device for psychiatric nursing, the whole structure is simple, operation and use are convenient, stability is good, reliability is high, and the intelligentized nursing cup device for psychiatric nursing is suitable for mental patients and assists the patients in controlling the drinking amount of a drink; the nursing cup is high in motion flexibility and more user friendly, and positioning precision is high due to cooperative work of various positioning devices.

The invention discloses a visual observation mechanism working in a nuclear fusion chamber and a control method thereof. The visual observation mechanism is characterized in that a front body segment lateral positioning module and a rear body segment lateral positioning module are symmetrically arranged at two ends of a middle body segment axial motion module to form a traveling mechanism; a visual observation cloud deck is arranged at the front part of the front body segment lateral positioning module; the front body segment lateral positioning module and the middle body segment axial motion module are connected by a front double universal joint; the rear body segment lateral positioning module and the middle body segment axial motion module are connected by a rear double universal joint. According to the visual observation mechanism disclosed by the invention, the traveling mechanism is wide in motion range; the traveling track of the traveling mechanism can extend all over the complete cycle of a large-double circular channel at the bottom of the nuclear fusion chamber; the visual observation cloud deck is arranged in a matching way, so that all-round visual information acquisition of an annular space with a D-shaped section inside the nuclear fusion chamber can be finished.

The invention discloses a multi-section peristaltic snakelike robot working in a nuclear fusion bin. The multi-section peristaltic snakelike robot working in the nuclear fusion bin is characterized in that each walking mechanism is composed of a front body section lateral positioning module and a rear body section lateral positioning module symmetrically arranged at the two ends of a middle body section axial movement module, the walking mechanisms serve as wriggling units, at least two wriggling units are connected in series to form the multi-section peristaltic snakelike robot, and the adjacent wriggling units are connected through telescopic elastic double universal joints. The movement track of the multi-section peristaltic snakelike robot can cover a whole large double annular groove way in the bottom of the nuclear fusion bin, the movement gait is like walking of a multi-section worm, movement stability is good, control is simple, and omnibearing visual information collection of the internal space of the nuclear fusion bin can be realized by mounting a visual observation cloud platform.

A lasso-driven hip joint series elastic power-assisted exoskeleton robot comprises a waist connecting mechanism and leg connecting mechanisms. The leg connecting mechanisms are arranged on the two sides of the waist connecting mechanism, motor series elastic modules are arranged on the two sides of the waist connecting mechanism correspondingly, hip joint series elastic modules are arranged at thetops of the leg connecting mechanisms, the hip joint series elastic modules and the motor series elastic modules are in connection transmission through lasso transmission mechanisms, and the hip joint series elastic modules, the motor series elastic modules and the lasso transmission mechanisms provide control and power through a driving and sensing system. According to the lasso-driven hip jointseries elastic power-assisted exoskeleton robot, walking assistance can be provided for people with weak walking ability such as old people or sick rehabilitation people, walking assistance can alsobe provided for people needing long-time and long-distance walking in daily life, human-computer interaction and intention perception technologies are combined, human body movement assistance is further achieved, and the human body movement ability is improved.

The invention discloses a worm-simulation robot walking mechanism running in a nuclear fusion compartment and a control method thereof. The worm-simulation robot walking mechanism is characterized by comprising an anterior somite lateral positioning module and a posterior somite lateral positioning module which are symmetrically arranged at two ends of a middle somite axial moving module, wherein the anterior somite lateral positioning module is connected to the middle somite axial moving module through two front universal joints; the posterior somite lateral positioning module is connected to the middle somite axial moving module through two rear universal joints. The moving track of the worm-simulation robot walking mechanism covers a large double-ring channel at the bottom of the whole nuclear fusion compartment; the moving pace is similar to the walking of worms; the mechanism is excellent in running stability and simple to control; three-freedom-degree all-direction visual information acquisition of the inner space of the nuclear fusion compartment can be implemented by carrying a visual observation platform.

The invention belongs to the technical field of bionic robots, and particularly discloses a three-degree-of-freedom bionic eye driven by an air bag. The three-degree-of-freedom bionic eye comprises a hemispherical bionic eye body, a three-degree-of-freedom driving mechanism is arranged on the hemispherical bionic eye body, and the three-degree-of-freedom driving mechanism comprises a platform fixing bottom plate. A linear driving structure and a flexible driving structure which are matched with each other are arranged on the platform fixing bottom plate, and both the linear driving structure and the flexible driving structure are connected with the hemispherical bionic eye body. A linear air bag driver and a flexible air bag driver are driven by air, so that the semispherical bionic eye has the three-degree-of-freedom movement adjusting capacity, the air mode is adopted for adjustment, and the platform fixing bottom plate is adopted for integrated bearing, so that the three-degree-of-freedom bionic eye has the characteristics of low noise, light weight, simple and compact structure, convenience in assembly, high portability and the like, and the stability and the flexibility of target image capture are greatly improved.

The invention belongs to the technical field of robots, and particularly relates to a special file transportation robot which comprises a vehicle body mechanical structure, a file replacement structure, a control device and a power device. The file replacement structure is arranged above the vehicle body mechanical structure, and the power device is arranged in the vehicle body mechanical structure; the control device comprises a plurality of camera devices, a controller and a power supply; the plurality of camera devices are arranged in a plurality of different directions on the outer side ofthe vehicle body mechanical structure; the controller is connected with and controls the multiple camera devices and the power device, images of the cameras can be rapidly transmitted to the controldevice after being imaged and recognized, and then the power system is controlled to correspondingly advance or retreat or steer or stop. The file replacement structure comprises at least two file boxgroups, and file transfer between two or more departments is achieved. The movement flexibility, stability and reliability of the file transportation robot are improved, the automation and intelligence of an enterprise office are improved, the working efficiency of staff is improved, and human resources are reduced.

The invention provides a superparamagnetic electromagnetic composite material, which comprises a raw material A and a raw material B, wherein the raw material A is nano ferroferric oxide, and the rawmaterial B is epoxy resin or polytetrafluoroethylene; and the mass percentage of the raw material A is 10-70%. In addition, the invention also provides a preparation method of the electromagnetic composite material, which comprises the steps of firstly weighing the raw material A and the raw material B, adding the raw materials into a ball mill, carrying out ball milling at a rotating speed of 40-50r/min within 10-20h, uniformly mixing, putting the mixture into a mold, carrying out compression molding under a molding pressure of 5-25MPa, and then carrying out a curing reaction at a temperatureof 180-360 DEG C for 90-120min to obtain the superparamagnetic electromagnetic composite material. Besides, the invention further provides a high-sensitivity electromagnetic valve. The static iron core and the movable iron core with superparamagnetism of the electromagnetic valve are prepared by adopting the preparation method, so that the problem that the sensitivity cannot be improved due to lag of an electromagnet in the existing conventional electromagnetic valve can be solved.

The invention discloses a bionic lower limb mechanism which comprises a support. The connecting piece is rotatably arranged on the bracket, and the connecting piece is connected with the artificial thigh; the damping device is arranged below the connecting piece and comprises a damping piece and a connecting frame, the end, close to the support, of the damping piece is rotationally connected with the support, a piston with the adjustable diameter is arranged in the damping piece and is in transmission connection with the connecting piece, the connecting frame is fixed to the outer wall of the damping piece, and the end, away from the damping piece, of the connecting frame is connected with the artificial shank; and the control piece is arranged outside the damping device and used for controlling the diameter of the piston. By means of the damping device, a user can conduct self-adaptive intelligent adjustment on rigidity damping of the damping device conveniently, then the user can adjust the step speed conveniently, and the movement flexibility and environment adaptability of the damping device are improved.

The invention relates to a reconfigurable modular flexible upper limb exoskeleton rehabilitation robot, which comprises a handheld rod, a wrist flexible structure, a lower arm pneumatic assembly, an elbow flexible structure, an upper arm pneumatic assembly and a shoulder flexible structure which are sequentially connected, wherein the wrist flexible structure, the elbow flexible structure and the shoulder flexible structure are all deformable connecting pieces, each of the lower arm pneumatic assembly and the upper arm pneumatic assembly comprises a plurality of pneumatic connecting chains which are arranged in parallel, and each pneumatic connecting chain comprises a plurality of pneumatic modules which are arranged in series and detachably connected. According to the invention, the structure is ingenious and reasonable, and the components are matched and the pneumatic modules are flexibly combined and assembled, so that the adaptability of the upper limb exoskeleton rehabilitation robot to different rehabilitation objects and rehabilitation requirements can be improved, the wearing comfort and action flexibility are improved, and flexible, smooth and safe rehabilitation tasks are achieved.

The invention discloses a waterproof moving head lamp capable of improving heat dissipation efficiency for stages, and belongs to the field of waterproof moving head lamps. According to the waterproofmoving head lamp, a first channel is arranged in a supporting arm; a second channel capable of communicating the interior of a waterproof shell with the first channel is formed in a first supportingshaft; convection heat dissipation and conduction heat dissipation are carried out by fully utilizing the supporting arm; the lamp light source temperature can be effectively and quickly reduced; theoperation pressure, the design difficulty and the total design amount of a heat dissipation mechanism are reduced; the overall weight of the supporting arm can be reduced, and then the lamp movement flexibility is improved; the number of parts of a lamp body and the supporting arm can be reduced, and then the waterproof machining number and design difficulty are reduced. Therefore, the waterproofmoving head lamp has the advantages of high heat dissipation efficiency, reduced internal temperature control difficulty, reduced waterproof design difficulty, increased waterproofness and durability,simple structure, convenience in implementation, low processing difficulty and no need of excessively increasing the production cost.